namespace glm {
    template<typename genType>
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR genType identity() {
            return detail::init_gentype<genType, detail::genTypeTrait<genType>::GENTYPE>::identity();
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> translate(mat<4, 4, T, Q> const &m, vec<3, T, Q> const &v) {
            mat<4, 4, T, Q> Result(m);
            Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3];
            return Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate(mat<4, 4, T, Q> const &m, T angle, vec<3, T, Q> const &v) {
            T const a = angle;
            T const c = cos(a);
            T const s = sin(a);

            vec<3, T, Q> axis(normalize(v));
            vec<3, T, Q> temp((T(1) - c) * axis);

            mat<4, 4, T, Q> Rotate;
            Rotate[0][0] = c + temp[0] * axis[0];
            Rotate[0][1] = temp[0] * axis[1] + s * axis[2];
            Rotate[0][2] = temp[0] * axis[2] - s * axis[1];

            Rotate[1][0] = temp[1] * axis[0] - s * axis[2];
            Rotate[1][1] = c + temp[1] * axis[1];
            Rotate[1][2] = temp[1] * axis[2] + s * axis[0];

            Rotate[2][0] = temp[2] * axis[0] + s * axis[1];
            Rotate[2][1] = temp[2] * axis[1] - s * axis[0];
            Rotate[2][2] = c + temp[2] * axis[2];

            mat<4, 4, T, Q> Result;
            Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
            Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
            Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
            Result[3] = m[3];
            return Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> rotate_slow(mat<4, 4, T, Q> const &m, T angle, vec<3, T, Q> const &v) {
            T const a = angle;
            T const c = cos(a);
            T const s = sin(a);
            mat<4, 4, T, Q> Result;

            vec<3, T, Q> axis = normalize(v);

            Result[0][0] = c + (static_cast<T>(1) - c) * axis.x * axis.x;
            Result[0][1] = (static_cast<T>(1) - c) * axis.x * axis.y + s * axis.z;
            Result[0][2] = (static_cast<T>(1) - c) * axis.x * axis.z - s * axis.y;
            Result[0][3] = static_cast<T>(0);

            Result[1][0] = (static_cast<T>(1) - c) * axis.y * axis.x - s * axis.z;
            Result[1][1] = c + (static_cast<T>(1) - c) * axis.y * axis.y;
            Result[1][2] = (static_cast<T>(1) - c) * axis.y * axis.z + s * axis.x;
            Result[1][3] = static_cast<T>(0);

            Result[2][0] = (static_cast<T>(1) - c) * axis.z * axis.x + s * axis.y;
            Result[2][1] = (static_cast<T>(1) - c) * axis.z * axis.y - s * axis.x;
            Result[2][2] = c + (static_cast<T>(1) - c) * axis.z * axis.z;
            Result[2][3] = static_cast<T>(0);

            Result[3] = vec<4, T, Q>(0, 0, 0, 1);
            return m * Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale(mat<4, 4, T, Q> const &m, vec<3, T, Q> const &v) {
            mat<4, 4, T, Q> Result;
            Result[0] = m[0] * v[0];
            Result[1] = m[1] * v[1];
            Result[2] = m[2] * v[2];
            Result[3] = m[3];
            return Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> scale_slow(mat<4, 4, T, Q> const &m, vec<3, T, Q> const &v) {
            mat<4, 4, T, Q> Result(T(1));
            Result[0][0] = v.x;
            Result[1][1] = v.y;
            Result[2][2] = v.z;
            return m * Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtRH(vec<3, T, Q> const &eye, vec<3, T, Q> const &center,
                                                    vec<3, T, Q> const &up) {
            vec<3, T, Q> const f(normalize(center - eye));
            vec<3, T, Q> const s(normalize(cross(f, up)));
            vec<3, T, Q> const u(cross(s, f));

            mat<4, 4, T, Q> Result(1);
            Result[0][0] = s.x;
            Result[1][0] = s.y;
            Result[2][0] = s.z;
            Result[0][1] = u.x;
            Result[1][1] = u.y;
            Result[2][1] = u.z;
            Result[0][2] = -f.x;
            Result[1][2] = -f.y;
            Result[2][2] = -f.z;
            Result[3][0] = -dot(s, eye);
            Result[3][1] = -dot(u, eye);
            Result[3][2] = dot(f, eye);
            return Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAtLH(vec<3, T, Q> const &eye, vec<3, T, Q> const &center,
                                                    vec<3, T, Q> const &up) {
            vec<3, T, Q> const f(normalize(center - eye));
            vec<3, T, Q> const s(normalize(cross(up, f)));
            vec<3, T, Q> const u(cross(f, s));

            mat<4, 4, T, Q> Result(1);
            Result[0][0] = s.x;
            Result[1][0] = s.y;
            Result[2][0] = s.z;
            Result[0][1] = u.x;
            Result[1][1] = u.y;
            Result[2][1] = u.z;
            Result[0][2] = f.x;
            Result[1][2] = f.y;
            Result[2][2] = f.z;
            Result[3][0] = -dot(s, eye);
            Result[3][1] = -dot(u, eye);
            Result[3][2] = -dot(f, eye);
            return Result;
        }

    template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER mat<4, 4, T, Q> lookAt(vec<3, T, Q> const &eye, vec<3, T, Q> const &center,
                                                  vec<3, T, Q> const &up) {
            GLM_IF_CONSTEXPR (GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT) {
                return lookAtLH(eye, center, up);
            }
            else {
                return lookAtRH(eye, center, up);
            }
        }
}//namespace glm
